/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "lcd.h"
#include "usart.h"
#include "wd.h"
#include "iwdg.h"
#include "pid.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId defaultTaskHandle;
osThreadId myTask02Handle;
osThreadId myTask04Handle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
uint8_t line[128] = {20};
int tem_set = 28;
int pwm_rx = 0;
/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void const * argument);
void StartTask02(void const * argument);
void StartTask04(void const * argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */
  //HAL_UART_Transmit_IT(&huart1,TxMsg,sizeof(TxMsg));
  HAL_UART_Receive_IT(&huart1,Rx1Msg,2);
  //HAL_UART_Transmit_IT(&huart2,TxMsg,sizeof(TxMsg));
  HAL_UART_Receive_IT(&huart2,Rx2Msg,1);
  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* definition and creation of myTask02 */
  osThreadDef(myTask02, StartTask02, osPriorityIdle, 0, 128);
  myTask02Handle = osThreadCreate(osThread(myTask02), NULL);

  /* definition and creation of myTask04 */
  osThreadDef(myTask04, StartTask04, osPriorityIdle, 0, 128);
  myTask04Handle = osThreadCreate(osThread(myTask04), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  { 
    tem_set =  (Rx1Msg[0] - 48)*10 + Rx1Msg[1] - 48;//从上位机获得控制温度
    //点灯
    HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_RESET);
		osDelay(500);
		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_SET);
		osDelay(100);
  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_StartTask02 */
/**
* @brief Function implementing the myTask02 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask02 */
void StartTask02(void const * argument)
{
  /* USER CODE BEGIN StartTask02 */
  /* Infinite loop */
  uint8_t pwm_rx_e[3] = {0};
  for(;;)
  {
    optem = tem_set;//给PID计算参数赋值目标温度
    tem = temp_rx;//给PID计算赋值实时温度
    controltem();//计算PID
    pwm_rx = ww;//获取pwm
    pwm_rx_e[0] = (100-pwm_rx) / 10 + 48;
    pwm_rx_e[1] = (100-pwm_rx) % 10 + 48;
    pwm_rx_e[2] = 101;
    HAL_UART_Transmit(&huart2,pwm_rx_e,3,0xffff);//通过串口2发送温度数据
    osDelay(2500);
  }
  /* USER CODE END StartTask02 */
}

/* USER CODE BEGIN Header_StartTask04 */
/**
* @brief Function implementing the myTask04 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask04 */
void StartTask04(void const * argument)
{
  /* USER CODE BEGIN StartTask04 */
  /* Infinite loop */
  char temp[] = {"temp:"};
  char pwm[] = {"pwm:"};
  int temp_val = 0;
  int pwm_val = 0;
  uint8_t pwm_temp_val_e[6] = {0};
  Lcd_Init();
  SID_1;
  SCLK_1;
  LCD_Clear_Screen();
  LCD_Display_Words(0,0,temp);//显示
  LCD_Display_Words(0,4,pwm);//显示
  for(;;)
  {
    temp_val = temp_rx;
    pwm_val = pwm_rx;
    if((pwm_val > 100) || (pwm_val < 0))
    {
      pwm_val = 0;
    }
    if(pwm_val == 100)
    {
      pwm_val = 99;
    }
    pwm_temp_val_e[0] = 97;
    pwm_temp_val_e[1] = temp_val / 10 + 48;
    pwm_temp_val_e[2] = temp_val % 10 + 48;
    pwm_temp_val_e[3] = 101;
    pwm_temp_val_e[4] = pwm_val / 10 + 48;
    pwm_temp_val_e[5] = pwm_val % 10 + 48;
    HAL_UART_Transmit(&huart1,pwm_temp_val_e,6,0xffff);//向上位机发送数据
    LCD_Display_Number(0,3,temp_val);//显示
    LCD_Display_Number(0,6,pwm_val);//显示
    osDelay(1000);
  }
  /* USER CODE END StartTask04 */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
